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texture_binder.hpp
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
#ifndef PCL_GPU_UTILS_TEXTURE_BINDER_HPP_
#define PCL_GPU_UTILS_TEXTURE_BINDER_HPP_
#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/utils/safe_call.hpp>
namespace pcl {
namespace gpu {
class TextureBinder {
public:
template <class T, enum cudaTextureReadMode readMode>
TextureBinder(const DeviceArray2D<T>& arr, const struct texture<T, 2, readMode>& tex)
: texref(&tex)
{
cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
cudaSafeCall(
cudaBindTexture2D(0, tex, arr.ptr(), desc, arr.cols(), arr.rows(), arr.step()));
}
template <class T, enum cudaTextureReadMode readMode>
TextureBinder(const DeviceArray<T>& arr, const struct texture<T, 1, readMode>& tex)
: texref(&tex)
{
cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
cudaSafeCall(cudaBindTexture(0, tex, arr.ptr(), desc, arr.sizeBytes()));
}
template <class T, enum cudaTextureReadMode readMode>
TextureBinder(const PtrStepSz<T>& arr, const struct texture<T, 2, readMode>& tex)
: texref(&tex)
{
cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
cudaSafeCall(
cudaBindTexture2D(0, tex, arr.data, desc, arr.cols, arr.rows, arr.step));
}
template <class T, enum cudaTextureReadMode readMode>
TextureBinder(const PtrSz<T>& arr, const struct texture<T, 1, readMode>& tex)
: texref(&tex)
{
cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
cudaSafeCall(cudaBindTexture(0, tex, arr.data, desc, arr.size * arr.elemSize()));
}
~TextureBinder() { cudaSafeCall(cudaUnbindTexture(texref)); }
private:
const struct textureReference* texref;
};
} // namespace gpu
namespace device {
using pcl::gpu::TextureBinder;
}
} // namespace pcl
#endif /* PCL_GPU_UTILS_TEXTURE_BINDER_HPP_*/
pcl::device::TextureBinder::TextureBinder
TextureBinder(const DeviceArray2D< T > &arr, const struct texture< T, 2, readMode > &tex)
Definition texture_binder.hpp:48
pcl::gpu::DeviceArray2D
DeviceArray2D class
Definition device_array.h:188
pcl::gpu::DeviceArray2D::rows
int rows() const
Returns number of rows.
Definition device_array.hpp:317
pcl::gpu::DeviceArray2D::cols
int cols() const
Returns number of elements in each row.
Definition device_array.hpp:310
pcl::gpu::DeviceArray2D::ptr
T * ptr(int y=0)
Returns pointer to given row in internal buffer.
Definition device_array.hpp:284
pcl::gpu::DeviceArray
DeviceArray class
Definition device_array.h:54
pcl::gpu::DeviceArray::ptr
T * ptr()
Returns pointer for internal buffer in GPU memory.
Definition device_array.hpp:156
pcl::gpu::DeviceMemory2D::step
std::size_t step() const
Returns stride between two consecutive rows in bytes for internal buffer.
pcl::gpu::DeviceMemory::sizeBytes
std::size_t sizeBytes() const
pcl::gpu::TextureBinder
Definition texture_binder.hpp:45
pcl::gpu::TextureBinder::~TextureBinder
~TextureBinder()
Definition texture_binder.hpp:81
pcl::gpu::TextureBinder::TextureBinder
TextureBinder(const PtrStepSz< T > &arr, const struct texture< T, 2, readMode > &tex)
Definition texture_binder.hpp:65
pcl::gpu::TextureBinder::TextureBinder
TextureBinder(const PtrSz< T > &arr, const struct texture< T, 1, readMode > &tex)
Definition texture_binder.hpp:74
pcl::gpu::TextureBinder::TextureBinder
TextureBinder(const DeviceArray2D< T > &arr, const struct texture< T, 2, readMode > &tex)
Definition texture_binder.hpp:48
pcl::gpu::TextureBinder::TextureBinder
TextureBinder(const DeviceArray< T > &arr, const struct texture< T, 1, readMode > &tex)
Definition texture_binder.hpp:57
pcl::gpu
Definition device_array.h:45
pcl
Definition convolution.h:46
pcl::gpu::DevPtr::elemSize
__PCL_GPU_HOST_DEVICE__ std::size_t elemSize() const
Definition kernel_containers.h:63
pcl::gpu::DevPtr::data
T * data
Definition kernel_containers.h:54
pcl::gpu::PtrStep::step
std::size_t step
stride between two consecutive rows in bytes.
Definition kernel_containers.h:94
pcl::gpu::PtrStepSz
Definition kernel_containers.h:122
pcl::gpu::PtrStepSz::cols
int cols
Definition kernel_containers.h:131
pcl::gpu::PtrStepSz::rows
int rows
Definition kernel_containers.h:132
pcl::gpu::PtrSz
Definition kernel_containers.h:74
pcl::gpu::PtrSz::size
std::size_t size
Definition kernel_containers.h:81